//
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty.  In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
//    claim that you wrote the original software. If you use this software
//    in a product, an acknowledgment in the product documentation would be
//    appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
//    misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//

#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#include <string.h>
#include "SDL.h"
#include "SDL_opengl.h"
#include "imgui.h"
#include "InputGeom.h"
#include "Sample.h"
#include "Sample_SoloMeshSimple.h"
#include "Recast.h"
#include "RecastDebugDraw.h"
#include "RecastDump.h"
#include "DetourNavMesh.h"
#include "DetourNavMeshBuilder.h"
#include "DetourDebugDraw.h"
#include "NavMeshTesterTool.h"
#include "OffMeshConnectionTool.h"
#include "ConvexVolumeTool.h"
#include "CrowdTool.h"

#ifdef WIN32
#    define snprintf _snprintf
#endif


Sample_SoloMeshSimple::Sample_SoloMeshSimple() :
    m_keepInterResults(true),
    m_totalBuildTimeMs(0),
    m_triareas(0),
    m_solid(0),
    m_chf(0),
    m_cset(0),
    m_pmesh(0),
    m_dmesh(0),
    m_drawMode(DRAWMODE_NAVMESH)
{
    setTool(new NavMeshTesterTool);
}
        
Sample_SoloMeshSimple::~Sample_SoloMeshSimple()
{
    cleanup();
}
    
void Sample_SoloMeshSimple::cleanup()
{
    delete [] m_triareas;
    m_triareas = 0;
    rcFreeHeightField(m_solid);
    m_solid = 0;
    rcFreeCompactHeightfield(m_chf);
    m_chf = 0;
    rcFreeContourSet(m_cset);
    m_cset = 0;
    rcFreePolyMesh(m_pmesh);
    m_pmesh = 0;
    rcFreePolyMeshDetail(m_dmesh);
    m_dmesh = 0;
    dtFreeNavMesh(m_navMesh);
    m_navMesh = 0;
}
            
void Sample_SoloMeshSimple::handleSettings()
{
    Sample::handleCommonSettings();
    
    if (imguiCheck("Keep Itermediate Results", m_keepInterResults))
        m_keepInterResults = !m_keepInterResults;

    imguiSeparator();
    
    char msg[64];
    snprintf(msg, 64, "Build Time: %.1fms", m_totalBuildTimeMs);
    imguiLabel(msg);
    
    imguiSeparator();
}

void Sample_SoloMeshSimple::handleTools()
{
    int type = !m_tool ? TOOL_NONE : m_tool->type();
    
    if (imguiCheck("Test Navmesh", type == TOOL_NAVMESH_TESTER))
    {
        setTool(new NavMeshTesterTool);
    }
    if (imguiCheck("Create Off-Mesh Connections", type == TOOL_OFFMESH_CONNECTION))
    {
        setTool(new OffMeshConnectionTool);
    }
    if (imguiCheck("Create Convex Volumes", type == TOOL_CONVEX_VOLUME))
    {
        setTool(new ConvexVolumeTool);
    }
    if (imguiCheck("Create Crowds", type == TOOL_CROWD))
    {
        setTool(new CrowdTool);
    }
    
    imguiSeparatorLine();

    imguiIndent();

    if (m_tool)
        m_tool->handleMenu();

    imguiUnindent();

}

void Sample_SoloMeshSimple::handleDebugMode()
{
    // Check which modes are valid.
    bool valid[MAX_DRAWMODE];
    for (int i = 0; i < MAX_DRAWMODE; ++i)
        valid[i] = false;

    if (m_geom)
    {
        valid[DRAWMODE_NAVMESH] = m_navMesh != 0;
        valid[DRAWMODE_NAVMESH_TRANS] = m_navMesh != 0;
        valid[DRAWMODE_NAVMESH_BVTREE] = m_navMesh != 0;
        valid[DRAWMODE_NAVMESH_NODES] = m_navQuery != 0;
        valid[DRAWMODE_NAVMESH_INVIS] = m_navMesh != 0;
        valid[DRAWMODE_MESH] = true;
        valid[DRAWMODE_VOXELS] = m_solid != 0;
        valid[DRAWMODE_VOXELS_WALKABLE] = m_solid != 0;
        valid[DRAWMODE_COMPACT] = m_chf != 0;
        valid[DRAWMODE_COMPACT_DISTANCE] = m_chf != 0;
        valid[DRAWMODE_COMPACT_REGIONS] = m_chf != 0;
        valid[DRAWMODE_REGION_CONNECTIONS] = m_cset != 0;
        valid[DRAWMODE_RAW_CONTOURS] = m_cset != 0;
        valid[DRAWMODE_BOTH_CONTOURS] = m_cset != 0;
        valid[DRAWMODE_CONTOURS] = m_cset != 0;
        valid[DRAWMODE_POLYMESH] = m_pmesh != 0;
        valid[DRAWMODE_POLYMESH_DETAIL] = m_dmesh != 0;
    }
    
    int unavail = 0;
    for (int i = 0; i < MAX_DRAWMODE; ++i)
        if (!valid[i]) unavail++;

    if (unavail == MAX_DRAWMODE)
        return;

    imguiLabel("Draw");
    if (imguiCheck("Input Mesh", m_drawMode == DRAWMODE_MESH, valid[DRAWMODE_MESH]))
        m_drawMode = DRAWMODE_MESH;
    if (imguiCheck("Navmesh", m_drawMode == DRAWMODE_NAVMESH, valid[DRAWMODE_NAVMESH]))
        m_drawMode = DRAWMODE_NAVMESH;
    if (imguiCheck("Navmesh Invis", m_drawMode == DRAWMODE_NAVMESH_INVIS, valid[DRAWMODE_NAVMESH_INVIS]))
        m_drawMode = DRAWMODE_NAVMESH_INVIS;
    if (imguiCheck("Navmesh Trans", m_drawMode == DRAWMODE_NAVMESH_TRANS, valid[DRAWMODE_NAVMESH_TRANS]))
        m_drawMode = DRAWMODE_NAVMESH_TRANS;
    if (imguiCheck("Navmesh BVTree", m_drawMode == DRAWMODE_NAVMESH_BVTREE, valid[DRAWMODE_NAVMESH_BVTREE]))
        m_drawMode = DRAWMODE_NAVMESH_BVTREE;
    if (imguiCheck("Navmesh Nodes", m_drawMode == DRAWMODE_NAVMESH_NODES, valid[DRAWMODE_NAVMESH_NODES]))
        m_drawMode = DRAWMODE_NAVMESH_NODES;
    if (imguiCheck("Voxels", m_drawMode == DRAWMODE_VOXELS, valid[DRAWMODE_VOXELS]))
        m_drawMode = DRAWMODE_VOXELS;
    if (imguiCheck("Walkable Voxels", m_drawMode == DRAWMODE_VOXELS_WALKABLE, valid[DRAWMODE_VOXELS_WALKABLE]))
        m_drawMode = DRAWMODE_VOXELS_WALKABLE;
    if (imguiCheck("Compact", m_drawMode == DRAWMODE_COMPACT, valid[DRAWMODE_COMPACT]))
        m_drawMode = DRAWMODE_COMPACT;
    if (imguiCheck("Compact Distance", m_drawMode == DRAWMODE_COMPACT_DISTANCE, valid[DRAWMODE_COMPACT_DISTANCE]))
        m_drawMode = DRAWMODE_COMPACT_DISTANCE;
    if (imguiCheck("Compact Regions", m_drawMode == DRAWMODE_COMPACT_REGIONS, valid[DRAWMODE_COMPACT_REGIONS]))
        m_drawMode = DRAWMODE_COMPACT_REGIONS;
    if (imguiCheck("Region Connections", m_drawMode == DRAWMODE_REGION_CONNECTIONS, valid[DRAWMODE_REGION_CONNECTIONS]))
        m_drawMode = DRAWMODE_REGION_CONNECTIONS;
    if (imguiCheck("Raw Contours", m_drawMode == DRAWMODE_RAW_CONTOURS, valid[DRAWMODE_RAW_CONTOURS]))
        m_drawMode = DRAWMODE_RAW_CONTOURS;
    if (imguiCheck("Both Contours", m_drawMode == DRAWMODE_BOTH_CONTOURS, valid[DRAWMODE_BOTH_CONTOURS]))
        m_drawMode = DRAWMODE_BOTH_CONTOURS;
    if (imguiCheck("Contours", m_drawMode == DRAWMODE_CONTOURS, valid[DRAWMODE_CONTOURS]))
        m_drawMode = DRAWMODE_CONTOURS;
    if (imguiCheck("Poly Mesh", m_drawMode == DRAWMODE_POLYMESH, valid[DRAWMODE_POLYMESH]))
        m_drawMode = DRAWMODE_POLYMESH;
    if (imguiCheck("Poly Mesh Detail", m_drawMode == DRAWMODE_POLYMESH_DETAIL, valid[DRAWMODE_POLYMESH_DETAIL]))
        m_drawMode = DRAWMODE_POLYMESH_DETAIL;
        
    if (unavail)
    {
        imguiValue("Tick 'Keep Itermediate Results'");
        imguiValue("to see more debug mode options.");
    }
}

void Sample_SoloMeshSimple::handleRender()
{
    if (!m_geom || !m_geom->getMesh())
        return;
    
    DebugDrawGL dd;
    
    glEnable(GL_FOG);
    glDepthMask(GL_TRUE);

    if (m_drawMode == DRAWMODE_MESH)
    {
        // Draw mesh
        duDebugDrawTriMeshSlope(&dd, m_geom->getMesh()->getVerts(), m_geom->getMesh()->getVertCount(),
                                m_geom->getMesh()->getTris(), m_geom->getMesh()->getNormals(), m_geom->getMesh()->getTriCount(),
                                m_agentMaxSlope);
        m_geom->drawOffMeshConnections(&dd);
    }
    else if (m_drawMode != DRAWMODE_NAVMESH_TRANS)
    {
        // Draw mesh
        duDebugDrawTriMesh(&dd, m_geom->getMesh()->getVerts(), m_geom->getMesh()->getVertCount(),
                           m_geom->getMesh()->getTris(), m_geom->getMesh()->getNormals(), m_geom->getMesh()->getTriCount(), 0);
        m_geom->drawOffMeshConnections(&dd);
    }
    
    glDisable(GL_FOG);
    glDepthMask(GL_FALSE);

    // Draw bounds
    const float* bmin = m_geom->getMeshBoundsMin();
    const float* bmax = m_geom->getMeshBoundsMax();
    duDebugDrawBoxWire(&dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duRGBA(255,255,255,128), 1.0f);
    
    if (m_navMesh && m_navQuery &&
        (m_drawMode == DRAWMODE_NAVMESH ||
        m_drawMode == DRAWMODE_NAVMESH_TRANS ||
        m_drawMode == DRAWMODE_NAVMESH_BVTREE ||
         m_drawMode == DRAWMODE_NAVMESH_NODES ||
        m_drawMode == DRAWMODE_NAVMESH_INVIS))
    {
        if (m_drawMode != DRAWMODE_NAVMESH_INVIS)
            duDebugDrawNavMeshWithClosedList(&dd, *m_navMesh, *m_navQuery, m_navMeshDrawFlags);
        if (m_drawMode == DRAWMODE_NAVMESH_BVTREE)
            duDebugDrawNavMeshBVTree(&dd, *m_navMesh);
        if (m_drawMode == DRAWMODE_NAVMESH_NODES)
            duDebugDrawNavMeshNodes(&dd, *m_navQuery);
    }
        
    glDepthMask(GL_TRUE);
    
    if (m_chf && m_drawMode == DRAWMODE_COMPACT)
        duDebugDrawCompactHeightfieldSolid(&dd, *m_chf);

    if (m_chf && m_drawMode == DRAWMODE_COMPACT_DISTANCE)
        duDebugDrawCompactHeightfieldDistance(&dd, *m_chf);
    if (m_chf && m_drawMode == DRAWMODE_COMPACT_REGIONS)
        duDebugDrawCompactHeightfieldRegions(&dd, *m_chf);
    if (m_solid && m_drawMode == DRAWMODE_VOXELS)
    {
        glEnable(GL_FOG);
        duDebugDrawHeightfieldSolid(&dd, *m_solid);
        glDisable(GL_FOG);
    }
    if (m_solid && m_drawMode == DRAWMODE_VOXELS_WALKABLE)
    {
        glEnable(GL_FOG);
        duDebugDrawHeightfieldWalkable(&dd, *m_solid);
        glDisable(GL_FOG);
    }
    if (m_cset && m_drawMode == DRAWMODE_RAW_CONTOURS)
    {
        glDepthMask(GL_FALSE);
        duDebugDrawRawContours(&dd, *m_cset);
        glDepthMask(GL_TRUE);
    }
    if (m_cset && m_drawMode == DRAWMODE_BOTH_CONTOURS)
    {
        glDepthMask(GL_FALSE);
        duDebugDrawRawContours(&dd, *m_cset, 0.5f);
        duDebugDrawContours(&dd, *m_cset);
        glDepthMask(GL_TRUE);
    }
    if (m_cset && m_drawMode == DRAWMODE_CONTOURS)
    {
        glDepthMask(GL_FALSE);
        duDebugDrawContours(&dd, *m_cset);
        glDepthMask(GL_TRUE);
    }
    if (m_chf && m_cset && m_drawMode == DRAWMODE_REGION_CONNECTIONS)
    {
        duDebugDrawCompactHeightfieldRegions(&dd, *m_chf);
            
        glDepthMask(GL_FALSE);
        duDebugDrawRegionConnections(&dd, *m_cset);
        glDepthMask(GL_TRUE);
    }
    if (m_pmesh && m_drawMode == DRAWMODE_POLYMESH)
    {
        glDepthMask(GL_FALSE);
        duDebugDrawPolyMesh(&dd, *m_pmesh);
        glDepthMask(GL_TRUE);
    }
    if (m_dmesh && m_drawMode == DRAWMODE_POLYMESH_DETAIL)
    {
        glDepthMask(GL_FALSE);
        duDebugDrawPolyMeshDetail(&dd, *m_dmesh);
        glDepthMask(GL_TRUE);
    }
    
    m_geom->drawConvexVolumes(&dd);

    if (m_tool)
        m_tool->handleRender();

    glDepthMask(GL_TRUE);
}

void Sample_SoloMeshSimple::handleRenderOverlay(double* proj, double* model, int* view)
{
    if (m_tool)
        m_tool->handleRenderOverlay(proj, model, view);
}

void Sample_SoloMeshSimple::handleMeshChanged(class InputGeom* geom)
{
    Sample::handleMeshChanged(geom);

    dtFreeNavMesh(m_navMesh);
    m_navMesh = 0;

    if (m_tool)
    {
        m_tool->reset();
        m_tool->init(this);
    }
}


bool Sample_SoloMeshSimple::handleBuild()
{
    if (!m_geom || !m_geom->getMesh())
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Input mesh is not specified.");
        return false;
    }
    
    cleanup();
    
    const float* bmin = m_geom->getMeshBoundsMin();
    const float* bmax = m_geom->getMeshBoundsMax();
    const float* verts = m_geom->getMesh()->getVerts();
    const int nverts = m_geom->getMesh()->getVertCount();
    const int* tris = m_geom->getMesh()->getTris();
    const int ntris = m_geom->getMesh()->getTriCount();
    
    //
    // Step 1. Initialize build config.
    //
    
    // Init build configuration from GUI
    memset(&m_cfg, 0, sizeof(m_cfg));
    m_cfg.cs = m_cellSize;
    m_cfg.ch = m_cellHeight;
    m_cfg.walkableSlopeAngle = m_agentMaxSlope;
    m_cfg.walkableHeight = (int)ceilf(m_agentHeight / m_cfg.ch);
    m_cfg.walkableClimb = (int)floorf(m_agentMaxClimb / m_cfg.ch);
    m_cfg.walkableRadius = (int)ceilf(m_agentRadius / m_cfg.cs);
    m_cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
    m_cfg.maxSimplificationError = m_edgeMaxError;
    m_cfg.minRegionArea = (int)rcSqr(m_regionMinSize);        // Note: area = size*size
    m_cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize);    // Note: area = size*size
    m_cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
    m_cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
    m_cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
    
    // Set the area where the navigation will be build.
    // Here the bounds of the input mesh are used, but the
    // area could be specified by an user defined box, etc.
    rcVcopy(m_cfg.bmin, bmin);
    rcVcopy(m_cfg.bmax, bmax);
    rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, &m_cfg.width, &m_cfg.height);

    // Reset build times gathering.
    m_ctx->resetTimers();

    // Start the build process.    
    m_ctx->startTimer(RC_TIMER_TOTAL);
    
    m_ctx->log(RC_LOG_PROGRESS, "Building navigation:");
    m_ctx->log(RC_LOG_PROGRESS, " - %d x %d cells", m_cfg.width, m_cfg.height);
    m_ctx->log(RC_LOG_PROGRESS, " - %.1fK verts, %.1fK tris", nverts/1000.0f, ntris/1000.0f);
    
    //
    // Step 2. Rasterize input polygon soup.
    //
    
    // Allocate voxel heightfield where we rasterize our input data to.
    m_solid = rcAllocHeightfield();
    if (!m_solid)
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
        return false;
    }
    if (!rcCreateHeightfield(m_ctx, *m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch))
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");
        return false;
    }
    
    // Allocate array that can hold triangle area types.
    // If you have multiple meshes you need to process, allocate
    // and array which can hold the max number of triangles you need to process.
    m_triareas = new unsigned char[ntris];
    if (!m_triareas)
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (%d).", ntris);
        return false;
    }
    
    // Find triangles which are walkable based on their slope and rasterize them.
    // If your input data is multiple meshes, you can transform them here, calculate
    // the are type for each of the meshes and rasterize them.
    memset(m_triareas, 0, ntris*sizeof(unsigned char));
    rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle, verts, nverts, tris, ntris, m_triareas);
    rcRasterizeTriangles(m_ctx, verts, nverts, tris, m_triareas, ntris, *m_solid, m_cfg.walkableClimb);

    if (!m_keepInterResults)
    {
        delete [] m_triareas;
        m_triareas = 0;
    }
    
    //
    // Step 3. Filter walkables surfaces.
    //
    
    // Once all geoemtry is rasterized, we do initial pass of filtering to
    // remove unwanted overhangs caused by the conservative rasterization
    // as well as filter spans where the character cannot possibly stand.
    rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, *m_solid);
    rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
    rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, *m_solid);


    //
    // Step 4. Partition walkable surface to simple regions.
    //

    // Compact the heightfield so that it is faster to handle from now on.
    // This will result more cache coherent data as well as the neighbours
    // between walkable cells will be calculated.
    m_chf = rcAllocCompactHeightfield();
    if (!m_chf)
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
        return false;
    }
    if (!rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid, *m_chf))
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
        return false;
    }
    
    if (!m_keepInterResults)
    {
        rcFreeHeightField(m_solid);
        m_solid = 0;
    }
        
    // Erode the walkable area by agent radius.
    if (!rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, *m_chf))
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
        return false;
    }

    // (Optional) Mark areas.
    const ConvexVolume* vols = m_geom->getConvexVolumes();
    for (int i  = 0; i < m_geom->getConvexVolumeCount(); ++i)
        rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);
    
    // Prepare for region partitioning, by calculating distance field along the walkable surface.
    if (!rcBuildDistanceField(m_ctx, *m_chf))
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build distance field.");
        return false;
    }

    // Partition the walkable surface into simple regions without holes.
    if (!rcBuildRegions(m_ctx, *m_chf, m_cfg.borderSize, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
        return false;
    }

    //
    // Step 5. Trace and simplify region contours.
    //
    
    // Create contours.
    m_cset = rcAllocContourSet();
    if (!m_cset)
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
        return false;
    }
    if (!rcBuildContours(m_ctx, *m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, *m_cset))
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
        return false;
    }
    
    //
    // Step 6. Build polygons mesh from contours.
    //
    
    // Build polygon navmesh from the contours.
    m_pmesh = rcAllocPolyMesh();
    if (!m_pmesh)
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
        return false;
    }
    if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
        return false;
    }
    
    //
    // Step 7. Create detail mesh which allows to access approximate height on each polygon.
    //
    
    m_dmesh = rcAllocPolyMeshDetail();
    if (!m_dmesh)
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmdtl'.");
        return false;
    }

    if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, *m_dmesh))
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build detail mesh.");
        return false;
    }

    if (!m_keepInterResults)
    {
        rcFreeCompactHeightfield(m_chf);
        m_chf = 0;
        rcFreeContourSet(m_cset);
        m_cset = 0;
    }

    // At this point the navigation mesh data is ready, you can access it from m_pmesh.
    // See duDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.
    
    //
    // (Optional) Step 8. Create Detour data from Recast poly mesh.
    //
    
    // The GUI may allow more max points per polygon than Detour can handle.
    // Only build the detour navmesh if we do not exceed the limit.
    if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
    {
        unsigned char* navData = 0;
        int navDataSize = 0;

        // Update poly flags from areas.
        for (int i = 0; i < m_pmesh->npolys; ++i)
        {
            if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
                m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;
                
            if (m_pmesh->areas[i] == SAMPLE_POLYAREA_GROUND ||
                m_pmesh->areas[i] == SAMPLE_POLYAREA_GRASS ||
                m_pmesh->areas[i] == SAMPLE_POLYAREA_ROAD)
            {
                m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK;
            }
            else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_WATER)
            {
                m_pmesh->flags[i] = SAMPLE_POLYFLAGS_SWIM;
            }
            else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_DOOR)
            {
                m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR;
            }
        }


        dtNavMeshCreateParams params;
        memset(&params, 0, sizeof(params));
        params.verts = m_pmesh->verts;
        params.vertCount = m_pmesh->nverts;
        params.polys = m_pmesh->polys;
        params.polyAreas = m_pmesh->areas;
        params.polyFlags = m_pmesh->flags;
        params.polyCount = m_pmesh->npolys;
        params.nvp = m_pmesh->nvp;
        params.detailMeshes = m_dmesh->meshes;
        params.detailVerts = m_dmesh->verts;
        params.detailVertsCount = m_dmesh->nverts;
        params.detailTris = m_dmesh->tris;
        params.detailTriCount = m_dmesh->ntris;
        params.offMeshConVerts = m_geom->getOffMeshConnectionVerts();
        params.offMeshConRad = m_geom->getOffMeshConnectionRads();
        params.offMeshConDir = m_geom->getOffMeshConnectionDirs();
        params.offMeshConAreas = m_geom->getOffMeshConnectionAreas();
        params.offMeshConFlags = m_geom->getOffMeshConnectionFlags();
        params.offMeshConUserID = m_geom->getOffMeshConnectionId();
        params.offMeshConCount = m_geom->getOffMeshConnectionCount();
        params.walkableHeight = m_agentHeight;
        params.walkableRadius = m_agentRadius;
        params.walkableClimb = m_agentMaxClimb;
        rcVcopy(params.bmin, m_pmesh->bmin);
        rcVcopy(params.bmax, m_pmesh->bmax);
        params.cs = m_cfg.cs;
        params.ch = m_cfg.ch;
        
        if (!dtCreateNavMeshData(&params, &navData, &navDataSize))
        {
            m_ctx->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
            return false;
        }
        
        m_navMesh = dtAllocNavMesh();
        if (!m_navMesh)
        {
            dtFree(navData);
            m_ctx->log(RC_LOG_ERROR, "Could not create Detour navmesh");
            return false;
        }
        
        dtStatus status;
        
        status = m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA);
        if (dtStatusFailed(status))
        {
            dtFree(navData);
            m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh");
            return false;
        }
        
        status = m_navQuery->init(m_navMesh, 2048);
        if (dtStatusFailed(status))
        {
            m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh query");
            return false;
        }
    }
    
    m_ctx->stopTimer(RC_TIMER_TOTAL);

    // Show performance stats.
    duLogBuildTimes(*m_ctx, m_ctx->getAccumulatedTime(RC_TIMER_TOTAL));
    m_ctx->log(RC_LOG_PROGRESS, ">> Polymesh: %d vertices  %d polygons", m_pmesh->nverts, m_pmesh->npolys);
    
    m_totalBuildTimeMs = m_ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;
    
    if (m_tool)
        m_tool->init(this);

    return true;
}
